Autonomous Surface Vehicle

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Autonomous Surface Vehicle

• MyAsia Reid1, Linda Kpormone Buame2, Amadi
  Sefah-Twerefour2, Prosper Yaw Adiku2, George
  Owusu Fordah2, Center for Remote Sensing of Ice
  Sheets (CReSIS), University of Kansas, Lawrence,
  KS 66045
• 1Elizabeth City State University, Elizabeth City,
  N C 27909
• 2Department of Oceanography Fisheries,
  University of Ghana, Legon
• Mentors Dr. Eric Akers, Ben Panzer, Kyle Byers
  and Jerome Mitchell

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OUTLINE

• Introduction
• Methodology
• Results
• Conclusion
• References

3
Introduction

• The response of organisms to changes in water
  quality parameters enhances our understanding of
  aquatic environment (Abowei, 2009).
• MODIS) and SeaWIFs, are limited by assumption of
  uniformity in pixels (Yuan et al, 2005). Designs
  limited to open oceans
• Insufficient sampling,
• Inaccuracy of geophysical corrections.
• Sampling can be augmented by using more than one
  mission (Bouffard et al, 2008)

http//www.alticore.eu/
Dunbabin et al, 2009
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Design considerations

• Drag depends on size, shape speed force due to
  drag
• (F) 0.5rhoV²CdA, lowest Cd is the best
• F is proportional to speed, gtspeed needs more
  thrust and a greater drain on power.

5
Methodology

• Design components
• Microcontroller (Atmega 328)
• Motor controllers (10A brushed)
• Breadboard
• SD Card Reader
• GPS
• -shield (09487)
• -module (EM 406)
• Temperature Sensors (LM335a)
• Batteries(12V/8Ah , 12V/18Ah)

6
Design

• ASV flowchart.

7
Final design of ASV
On land
In the workshop
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Arduino

• What is an Arduino?
• is a single-board microcontroller and a software
  suite for programming it. The software consists
  of a standard programming language and the boot
  loader that runs on the board.
• Microcontroller The hardware consists of a
  simple open hardware design for the controller
  with an Atmel AVR processor and on-board I/O
  support.

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Temperature sensor

• Analog temperature sensor
• Works like a Zener diode
• Calibrated at 25C at and 5V input voltage and a
  2.982V output

LM335A
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Navigation and Control (GPS)

• GPS Bearing.
• Satellite based navigation system.
• Based on the network of 24 satellites.
• GPS intended for military use, but available for
  civilian use in the 1980s.
• Works off satellite, tracking positions of
  locations.
• For direction, tracking and navigation.

www.diytrade.com
www.vialite.co.uk
www.rei.com
www.navigadget.com
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• Credit http//forums.garmin.com

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GPS-09487
GPS Shield
Connector Vertical SMD for EM408
Coin Cell Holder - 12mm
20 Channel EM-406A SiRF III Receiver with Antenna
EM 406
Credit http//www.sparkfun.com/
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Bearing calculations..

• Bearing calculations done in radians
• Bearing (x)
• atan2(sin(lon2-lon1)cos(lat2),cos(lat1)sin(lat2
  ))sin(lat1)cos(lat2)cos(lon2-lon1))-
• degreesx 180/M_PI (M_PI is the constant from
  math.h set for value of PI)
• To ensure that it remains in proper range
• Degreesdegrees 360 if degrees is less than 0

http//drifters.doe.gov/track-a-yoto/tr
ack-a-drifter.html
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Distance calculations

• Haversine distance calculations
• dlat lat2-lat1
• dlonlon2-lon1
• apow(sin(dlat/2),2)cos(lat1)pow(sin(dlon/2),2)
  
• c2atan2(sqrt(a),sqrt(1-a))
• Distance rc// radius of the earth in meters
• r 6378140m

Credit http//en.wikipedia.org/wiki/Haversine_for
mula
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Results
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ASV navigating on Clinton Lake
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Conclusion

• An ASV that can navigate specific way point has
  been built.
• Future work would focus on increasing sensor
  capacity by putting on board more sensors as well
  as buoy mode and possibly obstacle avoidance.

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Acknowledgements

• Thanks to
• Dr. Eric Akers
• Dr. Claude Laird
• Dennis Sundermeyer
• Leon Searl
• Ben Panzer
• Kyle Byers
• Jerome Mitchell

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References

• Abowei, J.F.N (2010) Salinity, Dissolved Oxygen,
  pH and Surface Water Temperature Conditions in
  Nkoro River, Niger Delta, Nigeria, Advance
  Journal of Food Science and Technology 2(1)
  36-40, 2010
• Dunbabin, M., Alistair G. and J. Udy (2009) An
  Autonomous Surface Vehicle for Water Quality
  Monitoring Autonomous Systems Laboratory, CSIRO
  ICT Centre, P.O. Box 883, Kenmore, QLD 4069,
  Australia.
• Get a bearing. Accessed from the world wide web
  on 14th June,2010 at http//geaology.isu.edu/geost
  ac/Fieldexercie/topomaps/bearing.html
• Great circle.Accessed from the world wide web on
  18th July 2010 at www.answers.com/topic/great_circ
  le
• Haversine formula. Accessed from the world wide
  web on 8th July,2010 at www.absoluteastronomy.com/
  topics/Haversine_formula
• Haversine formula.Accessed from the world wide
  web on 14th June 2010 at http//en.wikipedia.org/w
  iki/Haversine_formula
• J. Bouffard,1 S. Vignudelli,2 P. Cipollini,3 and
  Y. Menard (2008) Exploiting the potential of an
  improved multimission altimetric data set over
  the coastal ocean. Geophysical research letters,
  vol. 35, l10601, 2008
• Latitude and Longitude general information.
  Accessed from the world wide web on 11th June
  2010 at www.csgnetwork.com/latloninfo.html
• Mathematicsltmath.hgt.Accessed from the world wide
  web on 25th June,2010 at http//www.nongnu.org/avr
  -libc/user-manual/group_avr_math.html
• Rogue robotic online www.roguerobotics.com

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